User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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104 Entry Description (607F
h
) . . . . . . . 40
105 Object Description (6081
h
) . . . . . . . 40
106 Entry Description (6081
h
) . . . . . . . 40
107 Object Description (6082
h
) . . . . . . . 41
108 Entry Description (6082
h
) . . . . . . . 41
109 Object Description (6083
h
) . . . . . . . 41
110 Entry Description (6083
h
) . . . . . . . 41
111 Object Description (6084
h
) . . . . . . . 42
112 Entry Description (6084
h
) . . . . . . . 42
113 Object Description (6085
h
) . . . . . . . 42
114 Entry Description (6085
h
) . . . . . . . 42
115 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 44
116 Command Coding . . . . . . . . . . . . 45
117 Object Description (6040
h
in pv Mode) 45
118 Entry Description (6040
h
in pv Mode) 45
119 Structure of the Status Word in pv Mode 45
120 Trinamic Specific Bits . . . . . . . . . . 46
121 Operation Mode specific Bits in pv Mode 46
122 State Coding . . . . . . . . . . . . . . . 46
123 Object Description (6041
h
in pv Mode) 46
124 Entry Description (6041
h
in pv Mode) 47
125 Object Description (606B
h
) . . . . . . 47
126 Entry Description (606B
h
) . . . . . . . 47
127 Object Description (606C
h
) . . . . . . 47
128 Entry Description (606C
h
) . . . . . . . 47
129 Object Description (6083
h
) . . . . . . . 48
130 Entry Description (6083
h
) . . . . . . . 48
131 Object Description (60FF
h
) . . . . . . . 48
132 Entry Description (60FF
h
) . . . . . . . 48
133 Supported CANopen Homing Methods 51
134 Homing Methods 17 – 21 . . . . . . . 51
135 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 52
136 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 52
137 Command Coding . . . . . . . . . . . . 52
138 Object Description (6040
h
in hm Mode) 53
139 Entry Description (6040
h
in hm Mode) 53
140 Structure of the Status Word in hm Mode 53
141 Trinamic Specific Bits . . . . . . . . . . 53
142 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 54
143 State Coding . . . . . . . . . . . . . . . 54
144 Object Description (6041
h
in hm Mode) 54
145 Entry Description (6041
h
in hm Mode) 54
146 Object Description (606C
h
) . . . . . . 55
147 Entry Description (606C
h
) . . . . . . . 55
148 Object Description (607C
h
) . . . . . . 55
149 Entry Description (607C
h
) . . . . . . . 55
150 Object Description (6098
h
) . . . . . . . 55
151 Entry Description (6098
h
) . . . . . . . 56
152 Object Description (6099
h
) . . . . . . . 56
153 Entry Description (6099
h
) . . . . . . . 56
154 Object Description (609A
h
) . . . . . . 56
155 Entry Description (609A
h
) . . . . . . . 57
156 Object Description (2100
h
) . . . . . . . 57
157 Entry Description (2100
h
) . . . . . . . 57
158 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 59
159 Command Coding . . . . . . . . . . . . 59
160 Object Description (6040
h
in csp Mode) 60
161 Entry Description (6040
h
in csp Mode) 60
162 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 60
163 Trinamic Specific Bits . . . . . . . . . . 60
164 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 61
165 State Coding . . . . . . . . . . . . . . . 61
166 Object Description (6041
h
in csp Mode) 61
167 Entry Description (6041
h
in csp Mode) 61
168 Object Description (6062
h
) . . . . . . . 62
169 Entry Description (6062
h
) . . . . . . . 62
170 Object Description (6063
h
) . . . . . . . 62
171 Entry Description (6063
h
) . . . . . . . 62
172 Object Description (6064
h
) . . . . . . . 62
173 Entry Description (6064
h
) . . . . . . . 63
174 Object Description (606C
h
) . . . . . . 63
175 Entry Description (606C
h
) . . . . . . . 63
176 Object Description (607A
h
) . . . . . . 63
177 Entry Description (607A
h
) . . . . . . . 63
178 Object Description (607D
h
) . . . . . . 64
179 Entry Description (607D
h
) . . . . . . . 64
180 Object Description (607F
h
) . . . . . . . 64
181 Entry Description (607F
h
) . . . . . . . 64
182 Object Description (6081
h
) . . . . . . . 65
183 Entry Description (6081
h
) . . . . . . . 65
184 Object Description (6082
h
) . . . . . . . 65
185 Entry Description (6082
h
) . . . . . . . 65
186 Object Description (6083
h
) . . . . . . . 66
187 Entry Description (6083
h
) . . . . . . . 66
188 Object Description (6084
h
) . . . . . . . 66
189 Entry Description (6084
h
) . . . . . . . 66
190 Object Description (6085
h
) . . . . . . . 66
191 Entry Description (6085
h
) . . . . . . . 67
192 Structure of the Control Word in csv
Mode . . . . . . . . . . . . . . . . . . . 68
193 Command Coding . . . . . . . . . . . . 68
194 Object Description (6040
h
in csv Mode) 69
195 Entry Description (6040
h
in csv Mode) 69
196 Structure of the Status Word in pv Mode 69
197 Trinamic Specific Bits . . . . . . . . . . 69
198 Operation Mode specific Bits in pv Mode 70
199 State Coding . . . . . . . . . . . . . . . 70
200 Object Description (6041
h
in pv Mode) 70
201 Entry Description (6041
h
in pv Mode) 70
202 Object Description (606B
h
) . . . . . . 71
203 Entry Description (606B
h
) . . . . . . . 71
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